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Right now, you cannot rely on anything about autopilot. That's why it's a BETA feature (the owners manual capitalizes the word every time it uses it). And that's why you have to keep your eyes on the road, your hands on the wheel, and your mind alert and vigilant any time you are using it.
It's not just parked cars that it sometimes does not see. I had to take over the steering just the other day because it was getting way too close to the car in the next lane over from me. This was just about a minute after it incorrectly showed that same car as overlapping into my lane.
The Model 3 on its current software does see stopped cars most of the time. It doesn't do anything right 100% of the time. (And I predict the same will apply to the "FSD" features: They will be BETA features that the car gets right most of the time.)